To the best of our knowledge, no monocular methods have reported results on Waymo. In order to provide a baseline, we extend the official implementation of M3D-RPN [1]} to support the Waymo Open Dataset [2]}. Table REF  shows the results of both the M3D-RPN [1]} baseline and CaDDN on the Waymo validation set. Our method significantly outperforms M3D-RPN [1]} with margins on AP/APH of +4.69%/+4.65% and +4.15%/+4.12% on the LEVEL_1 and LEVEL_2 difficulties respectively for an IoU criteria of 0.7.
